CN102462522A - Adapter for powered surgical devices - Google Patents

Adapter for powered surgical devices Download PDF

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Publication number
CN102462522A
CN102462522A CN2011102744277A CN201110274427A CN102462522A CN 102462522 A CN102462522 A CN 102462522A CN 2011102744277 A CN2011102744277 A CN 2011102744277A CN 201110274427 A CN201110274427 A CN 201110274427A CN 102462522 A CN102462522 A CN 102462522A
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CN
China
Prior art keywords
drive rod
assembly
transition components
axial translation
actuator
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Granted
Application number
CN2011102744277A
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Chinese (zh)
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CN102462522B (en
Inventor
特迪·R·布赖恩特
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Covidien LP
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Tyco Healthcare Group LP
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Priority to CN201510330707.3A priority Critical patent/CN104921769B/en
Publication of CN102462522A publication Critical patent/CN102462522A/en
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Publication of CN102462522B publication Critical patent/CN102462522B/en
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/10Surgical instruments, devices or methods, e.g. tourniquets for applying or removing wound clamps, e.g. containing only one clamp or staple; Wound clamp magazines
    • A61B17/105Wound clamp magazines
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068Surgical staplers, e.g. containing multiple staples or clamps
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/0682Surgical staplers, e.g. containing multiple staples or clamps for applying U-shaped staples or clamps, e.g. without a forming anvil
    • A61B17/0686Surgical staplers, e.g. containing multiple staples or clamps for applying U-shaped staples or clamps, e.g. without a forming anvil having a forming anvil staying below the tissue during stapling
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/11Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
    • A61B17/115Staplers for performing anastomosis in a single operation
    • A61B17/1155Circular staplers comprising a plurality of staples
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A61B2017/00464Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for use with different instruments
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477Coupling
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681Aspects not otherwise provided for
    • A61B2017/00734Aspects not otherwise provided for battery operated
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214Stapler heads
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28Surgical forceps
    • A61B17/29Forceps for use in minimally invasive surgery
    • A61B2017/2926Details of heads or jaws
    • A61B2017/2932Transmission of forces to jaw members
    • A61B2017/2938Independently actuatable jaw members, e.g. two actuating rods
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28Surgical forceps
    • A61B17/29Forceps for use in minimally invasive surgery
    • A61B2017/2926Details of heads or jaws
    • A61B2017/2932Transmission of forces to jaw members
    • A61B2017/2943Toothed members, e.g. rack and pinion

Abstract

An adapter assembly (100) for selectively interconnecting a surgical end effector (50) including at least one axially translatable drive member and a powered actuator device including at least one rotatable drive shaft (116,118) is provided. The adapter assembly includes an actuation shaft(132) configured to convert rotation of a first drive shaft (116) of the powered actuator device into an axial translation of a first drive member of the surgical end effector. The adapter assembly further includes an elongate tube (142,142a) configured to convert rotation of a second drive shaft (118) of the powered actuator device into an axial translation of a second drive member of the surgical end effector. The actuation shaft is disposed within the elongate tube, and the actuation shaft and the elongate tube translate axially independent of each other.

Description

The assembly that connects that is used for the powered surgical device
The cross reference of related application
It is the rights and interests and the priority of 61/409,132 U.S. Provisional Application that the application requires in the serial number that on November 2nd, 2010 submitted to, and its full content is herein incorporated by reference.
Technical field
The disclosure relates to a kind of operation device, relates in particular to a kind of be used for optionally making surgical end executor and the interconnected assembly that connects of actuator assembly.
Background technology
A plurality of surgical equipment manufactures have been developed many drive system that are used for the special use of operation device, and said operation device clamps the tissue between the opposed jaw arrangement, then through the surgical fasteners connecting tissue.Anastomosis process, end-to-end anastomosis process and the many existing surgical end executor that laterally uses in the anastomosis operation typically need linear driving force to be operated in carrying out gastrointestinal for example.
Normally, realize the operation that coincide by cam lever, above-mentioned cam lever is vertically advanced to pass and is coincide nail bin and act on the push piece that coincide sequentially anastomosis staple is penetrated from the nail bin that coincide.Typically through by the trigger of operator extruding or provide the actuator assembly that rotatablely moves with transmission of drive force to activate this cam lever.In utilization rotatablely moved the situation of actuator assembly of transmission of drive force, it was incompatible rotatablely moving with needing the surgical end executor of linear driving force.
Thereby; Compatible for the surgical end executor that makes Linear Driving with the actuator assembly that utilizes the transmission of drive force that rotatablely moves, need change the export structure of said actuator assembly to such an extent that require the assembly that connects that is complementary with the work input of end effector.
Summary of the invention
According to an embodiment of the present disclosure, a kind of be used for optionally making surgical end executor and the interconnected assembly that connects of actuator assembly are provided.The said assembly that connects comprises: first drives transition components, and it is constructed to the rotation of first driving shaft of actuator assembly is converted to the axial translation of surgical end executor's first drive member; And second drive transition components, and it is constructed to the rotation of second driving shaft of actuator assembly is converted to the axial translation of surgical end executor's second drive member.Said first drives transition components is arranged in the said second driving transition components at least in part, and wherein, the said first driving transition components and said second drives transition components and is constructed to rotate independently of one another and translation.
The said assembly that connects may further include first drive rod and second drive rod, and said first drive rod and said second drive rod are constructed to connect with rotatable first driving shaft and second driving shaft of said actuator assembly respectively.Said first drive rod and said first drives that transition components engages and said second drive rod and the said second driving transition components engage.
Said first drive rod and said second drive rod can comprise pinion part (pinion gear portion) separately.Said first drives transition components can comprise the actuator shaft that limits worm gear portion (worm gear portion).Said first drive rod supports pinion part; Wherein, The said worm gear portion of said actuator shaft engages with the said pinion part of said first drive rod; Thus, thereby the rotation of said first driving shaft of said actuator assembly makes the pinion part of said first drive rod rotate the axial translation of realizing said actuator shaft, and the axial translation of said actuator shaft makes surgical end executor's the said first drive member axial translation.
Similarly, said second drive the elongated tubular that transition components can comprise qualification worm gear portion.Said second drive rod supports pinion part; Wherein, The worm gear portion of said elongated tubular engages with the pinion part of said second drive rod; Thus, thereby the rotation of second driving shaft of said actuator assembly makes the pinion part of said second drive rod rotate the axial translation of realizing said elongated tubular, and the axial translation of said elongated tubular makes said surgical end executor's the second drive member axial translation.
Said first drive rod and said second drive rod can be flexible and can transmit revolving force.In addition, the said far-end that connects assembly can be constructed to said surgical end executor optionally, removably the assembling.
According to another scheme of the present disclosure, a kind of operation device is provided, comprising: actuator assembly, it comprises at least two rotatable driving shafts; Surgical end executor, but it comprises the drive member of at least two axial translations; And connecting assembly, it comprises that first drives the transition components and the second driving transition components.The said first driving transition components is constructed to the rotation of first driving shaft of said actuator assembly is converted to the axial displacement of said surgical end executor's first drive member.The said second driving transition components is constructed to the rotation of second driving shaft of said actuator assembly is converted to the axial translation of said surgical end executor's second drive member; Wherein, the said first driving transition components is arranged in the said second driving transition components at least in part.
The said assembly that connects may further include first drive rod and second drive rod, and said first and second drive rods are constructed to connect with rotatable first driving shaft and second driving shaft of said actuator assembly respectively.Said first drive rod and said first drives that transition components engages and said second drive rod and the said second driving transition components engage.
Said first drive rod and said second drive rod can comprise pinion part separately.In addition, said first drives transition components can comprise the actuator shaft that limits worm gear portion, and wherein, said first drive rod supports pinion part.The worm gear portion of said actuator shaft engages with the pinion part of said first drive rod; Thus; Thereby the rotation of said first driving shaft of said actuator assembly makes the pinion part of said first drive rod rotate the axial translation of realizing said actuator shaft, and the axial translation of said actuator shaft makes said surgical end executor's the said first drive member axial translation.
Similarly, said second drives transition components can comprise the elongated tubular that limits worm gear portion, and wherein, said second drive rod supports pinion part.The worm gear portion of said elongated tubular engages with the pinion part of said second drive rod; Thus; Thereby the rotation of said second driving shaft of said actuator assembly makes the said pinion part of said second drive rod rotate the axial translation of realizing said elongated tubular, and the axial translation of said elongated tubular makes said surgical end executor's the said second drive member axial translation.
First drive rod and second drive rod can be flexible and can transmit revolving force.In addition, the said far-end that connects assembly can be constructed to said surgical end executor optionally, removably the assembling.
Description of drawings
Read following description in conjunction with the drawings, it is more obvious that above-mentioned purpose of the present disclosure, structure and advantage will become, wherein:
Fig. 1 is the axonometric chart that connects the operation device of assembly according to comprising of embodiment of the present disclosure;
Fig. 2 is the axonometric chart of the operation device of Fig. 1, illustrates possibly use with various surgical end executors;
Fig. 3 is the axonometric chart that connects right angle linear cutter/anastomosis staple formula end effector that assembly uses that is used for according to embodiment of the present disclosure;
Fig. 4 is that the surgical end executor connects the axonometric chart that connects assembly according to embodiment of the present disclosure on it;
Fig. 5 is the amplification stereogram that connects assembly that illustrates from the Fig. 4 that has wherein removed outer tube; And
Fig. 6 is the amplification stereogram that connects assembly of Fig. 5, illustrates the independently axial translation of its actuator shaft and interior pipe.
The specific embodiment
Describe the embodiment that connects assembly of the present disclosure in detail with reference to accompanying drawing, wherein similar Reference numeral is represented similar or components identical in each width of cloth accompanying drawing in several accompanying drawings.Accompanying drawing and below description in, according to tradition, term " nearside " will refer to anastomosis apparatus near operator's a end, and term " distally " will refer to anastomosis apparatus from operator's end farthest.
Referring now to Fig. 1, a kind of powered surgical apparatus of 10 of being labeled as is usually disclosed.For briefly, the disclosure will mainly concentrate on and be used for optionally making surgical end executor and actuator assembly 20 interconnected mechanical types to connect assembly 100.About to being used for the structure of the exemplary powered surgical apparatus 10 that connects assembly 100 uses and the detailed description of operation, can be 2007/0023477 U.S. Patent application with reference to publication number, its full content is herein incorporated by reference.
Referring to figs. 1 through Fig. 3, powered surgical apparatus 10 generally includes: actuator assembly 20; And mechanical type connects assembly 100, its optionally make among the surgical end executor 40,50,60,70 any one interconnection with actuator assembly 20.Any one in the end effector 40,50,60,70 can be fastened to the far-end that connects assembly 100 releasedly.In the end effector 40,50,60,70 each comprises: nail bin groupware, and it holds a plurality of surgical fasteners or anastomosis staple; And anvil assembly, it is fastening movably with respect to nail bin groupware.Actuator assembly 20 comprises housing, at least one drive motor, at least one drive motor provides at least one energy of power, and at least one rotatable driving shaft that is connected at least one drive motor.In use, the actuating of drive motor causes the actuating with the end effector 40,50,60,70 of its connection, anastomosis staple be applied to tissue and cut and organize alternatively.
With reference to Fig. 4, Fig. 5 and Fig. 6, be shown 100 usually according to the assembly that connects of embodiment of the present disclosure.To shown in Figure 6, connect the far-end that assembly 100 may be operably coupled to actuator assembly 20, and surgical end executor 50 optionally is attached to the far-end that connects assembly 100 like Fig. 4.Yet, like what in Fig. 2, seen, connect assembly 100 be constructed to make among a plurality of surgical end executors any one operationally interconnection with actuator assembly 20.For example, connecting assembly 100 can be so that engagement end effector 40 or laterally engagement end effectors 60 are operationally interconnection and connect in actuator assembly 20 and the gastrointestinal, and two kinds of end effectors all need linear driving force.
But each in the end effector 40,50,60 comprises the drive member of axial translation, makes it with respect to the anvil assembly shaping and/or along the concordant profipole actuated blade thereby this drive member starts end effector 40,50,60 with the anastomosis staple that discharge is included in the nail bin groupware.But end effector 40,50,60 can comprise the drive member of additional axial translation, thereby said drive member is constructed to through making at least one the approaching and distancing clamp assemblies open and close that makes in anvil assembly and the nail bin groupware.But the drive member of additional axial translation also can be constructed to cause the articulated type motion of end effector 40,50,60.
As shown in Figure 3; Connecting assembly 100 can be constructed to and need the surgical end executor of linear driving force operationally interconnection; Need rotary driving force to be used for the end effector of its operation, such as right angle linear cutter/anastomosis staple formula end effector 70 but also can be suitable for operationally being attached to.Right angle linear cutter/anastomosis staple formula end effector 70 comprises rotatable drive member, with the anastomosis staple that discharge is included in nail bin groupware it is shaped thereby said rotatable drive member is used for starting end effector 70 with respect to said anvil assembly.End effector 70 can comprise additional rotatable drive member, thereby said rotatable drive member is along the concordant profipole actuated blade and/or through making at least one the approaching and distancing clamp assemblies open and close that makes in anvil assembly and the nail bin groupware.
Continuation is with reference to Fig. 4 to Fig. 6, provides the structure that connects assembly 100 and the detailed description of operation.Connect assembly 100 and comprise tubular shell 110, said tubular shell is constructed to hold the parts that connect assembly 100 and is sized to and makes tubular shell 110 can pass typical trocar mouth, intubate etc.Tubular shell 110 comprises: distal portion 110a, and it operationally is attached to end effector 50; And close end 110b, it is attached to actuator assembly 20.
Especially, like what in Fig. 5 and Fig. 6, seen, connect the driving coupling assembly 112 that assembly 100 further is included in its close end place, said driving coupling assembly makes that connecting assembly 100 operationally is attached to actuator assembly 20.Drive coupling assembly 112 and comprise the first nearside driving shaft 116 and the second nearside driving shaft 118 rotatably supported and that distad extend.Nearside driving shaft 116,118 can be manufactured to flexible to play the effect of amortisseur, make peak load be reduced, but enough rigidity is to transmit revolving force.The first nearside driving shaft 116 and the second nearside driving shaft 118 are included in the conical neck (not shown) of the transverse section of having of its proximal portion place non-circular (as square) separately.In the first nearside driving shaft 116 and the second nearside driving shaft 118 each all is provided with around the bias device (not shown) of corresponding cervical region layout and the sleeve (not shown) that is arranged in the nearside of said bias device.Said sleeve defines the boring that has with the corresponding transverse section, transverse section of the cervical region of nearside driving shaft 116,118 separately.First driving shaft of actuator assembly 20 and the far-end of second driving shaft comprise and connect pullover (cuff) 120,122, and each during said connection is pullover defines the corresponding groove 120a of non-circular cross-section, the 122a with the cervical region of nearside driving shaft 116,118.The connection of actuating device 20 pullover 120,122 engages (wherein each close end of nearside driving shaft 116,118 all has the corresponding recesses 120a that is used for and connects pullover 120,122, the non-circular cross-section that 122b engages) with the close end (not shown) of nearside driving shaft 116,118; Thus, the rotation of the driving shaft (not shown) of actuator assembly 20 causes the subsidiary rotation of connection pullover 120,122 and the subsidiary rotation of the first nearside driving shaft 116 and the second nearside driving shaft 118.
Continuation connects assembly 100 and comprises that further first drives the transition components 130 and the second driving transition components 140 with reference to Fig. 5 and Fig. 6.In the driving transition components 130,140 each is constructed to the subsidiary rotation of the rotation of corresponding first driving shaft of actuator assembly 20 and second driving shaft and the corresponding first nearside driving shaft 116 and the second nearside driving shaft 118 is converted to the axial translation of the corresponding driving member of end effector 50.
First drives transition components 130 comprises actuator shaft 132, but actuator shaft 132 is supported in the interior pipe 142 that drives transition components 140, axially to move back and forth by the bearing of the suitable location of any amount and sizing and/or lining (not shown) translation ground.The coaxial relation of actuator shaft 132 and interior pipe 142 allows its axial rotation displacement and can not cause that disadvantageous end effector 50 activates or the space conflict between them.The distal portion 132b that actuator shaft 132 is included in the 132a of worm gear portion at its proximal end region place and limits connecting elements 136, but connecting elements 136 is constructed to optionally engage with the drive member of the axial translation of end effector 50.First drives pinion part or the worm gear portion 134 that transition components 130 further comprises the remote end part that is arranged on the first nearside driving shaft 116.Pinion part 134 engages with the 132a of worm gear portion at the proximal end region place of actuator shaft 132.
In operation, like Fig. 5 and shown in Figure 6, the starting/rotation of the first driving shaft (not shown) of powered surgical device 20 causes the subsidiary rotation of the first nearside driving shaft 116 that connects assembly 100.Along with the first nearside driving shaft 116 is rotated, the first nearside driving shaft 116 causes the rotation of pinion part 134.Because the pinion part 134 in the remote end part of the first nearside driving shaft 116 engages with the 132a of worm gear portion of actuator shaft 132, so the rotation of pinion part 134 causes 132 axial translation of actuator shaft.Can be contemplated that actuator shaft 132 by any amount can be on " A " direction as shown in Figure 6 suitable location and the bearing and the lining (not shown) of sizing of axial translation support.Therefore; The connecting elements 136 of the actuator shaft 132 of first drive member through being connected to end effector 50; The axial translation of actuator shaft 132 causes the subsidiary axial translation of first drive member of end effector 50 realizing the operation and/or the function of end effector 50, such as the startup of end effector 50 etc.
After the operation of executor 50 first drive member and/or function (such as the startup of end effector 50) are accomplished endways,, can make actuator shaft 132 be withdrawn into its initial position for its operation subsequently.The first driving shaft (not shown) of powered surgical device 20 is reset, cause its with when actuator shaft 132 rotation on the direction in the opposite direction during axial translation on distal direction.The subsidiary rotation that connects the first nearside driving shaft 116 of assembly 100 causes the rotation of pinion part 134.Pinion part 134 engages with the 132a of worm gear portion of actuator shaft 132 and causes that the axial translation of actuator shaft 132 on proximal direction arrives initial position until actuator shaft 132.
Continuation is with reference to Fig. 5 and Fig. 6; Second drives transition components 140 comprises interior pipe 142; Pipe rotatably supports by rotating disk 144 or by the suitable location of any amount and the bearing or the lining (not shown) of sizing in said, so that interior pipe 142 axially moves back and forth in tubular shell 110.Interior pipe 142 is included in the 142a of worm gear portion at its proximal end region place and the distal portion 142b that is arranged in the far-end of tubular shell 110.Second drives pinion or the worm gear 138 that transition components 140 further comprises the remote end part that is arranged on the second nearside driving shaft 118.For pipe 142 in making axially moves back and forth in tubular shell 110, the 142a of worm gear portion of interior pipe 142 engages with pinion 138.
In operation, like what in Fig. 5 and Fig. 6, seen, the starting of the second driving shaft (not shown) of powered surgical device 20 causes the subsidiary rotation of the second nearside driving shaft 118 that connects assembly 100 with/rotation.Along with the second nearside driving shaft 118 owing to the rotation of second driving shaft of actuator assembly 20 is rotated, cause that second drives pinion 138 rotations of transition components 150.Because the pinion 138 in the remote end part of the second nearside driving shaft 118 engages with the 142a of worm gear portion of interior pipe 142, thus the rotation of pinion part 138 cause in pipe 142 on arrow as shown in Figure 6 " A " direction, be independent of the axial translation of actuator shaft 132.Therefore; Along with the axially translation of interior pipe 142; The far-end of interior pipe 142 is connected to second drive member of end effector 50; In pipe 142 cause that thereby the subsidiary axial translation of second drive member of end effector 50 is independent of the operation that is realized by actuator shaft 132 and realizes its additional operation, such as right approaching of the articulated type motion of end effector and/or clamp.
After the operation of executor 50 second drive member and/or function (such as right approaching of the motion of the articulated type of end effector 50 and/or clamp) were accomplished endways, for its operation subsequently, pipe 142 was withdrawn into its initial position in can making.The second driving shaft (not shown) of powered surgical device 20 is reset, cause its with rotate on the direction in the opposite direction during axial translation on distal direction when interior pipe 142.The subsidiary rotation that connects the second nearside driving shaft 118 of assembly 100 causes the rotation of pinion part 138.Pinion part 138 engages with the 142a of worm gear portion of interior pipe 142 and causes that the axial translation of interior pipe 142 on proximal direction arrives initial positions until interior pipe 142.
In actuator shaft 132 is sized to and is arranged in one heart in the pipe 142, it allows to connect the independently coaxial translation with respect to interior pipe 142 of Compact Design and the actuator shaft 132 of assembly 100.Actuator shaft 132 may further include the pair of flanges (not shown) that radially extends; So that said pair of flanges limits the scope of the axial translation of actuator shaft 132 together with the flange (not shown) that extend internally in the pipe 142 in being formed on, the near-end that prevents actuator shaft 132 thus is driven to drive in the coupling assembly 112 and/or with the ground, pinion 134 distally of the first nearside driving shaft 116 and separates.In addition, the arrangement of flange can be designed as the demand that satisfies the particular end executor consider, but the desired travel distance of drive member of surgical end executor's specific axial translation for example.
Similarly, interior pipe 142 may further include radially the flange (not shown) that extends so that interior pipe 142 axially moves back and forth in the inner preset range of tubular shell 110.Under such design, prevented interior pipe 142 by the distally be driven in the pinion 134 on the first nearside driving shaft 116 and separate with ground, pinion 138 distally on the second nearside driving shaft 122.In addition, in this design makes pipe 142 only translation realize the required distance of operation of the drive member of end effector 50.
According to the disclosure, can be contemplated that the said assembly 100 that connects can comprise transmission portion or gear part with optimal control and rotary speed and moment of torsion or linear speed and the power of handling the particular end executor.In addition, the pitch of worm gear and spiral angle can be constructed to provide where necessary become more meticulous (the force refinement) of addition speed and/or power.
What can further contemplate that is that the near-end and the far-end that connect assembly 100 can use various connecting structures (for example bayonet couplings, pallet, brake (detent) or snap part (snap-fit)) operationally to be attached to any in actuator assembly 20 and the end effector 40,50,60,70 respectively.In addition, connect assembly 100 and can comprise the lockable mechanism (not shown), axial location and the radial orientation that said lockable mechanism is constructed to fixing actuator shaft 132 with end effector 40,50,60,70 is connected on it and with its disconnection.Further, the axial rotation of whole tubular shell 110 can perhaps realize through manually rotating tubular shell through engaging from the rotary power (if can obtain) of power actuator.
It is understandable that, can carry out various improvement embodiment disclosed herein.Therefore, foregoing description should not be interpreted as determinate, and only is the illustration as preferred embodiment.It may occur to persons skilled in the art that in the scope of the claims of enclosing and other improvement in the spirit.

Claims (14)

1. one kind is used for optionally making surgical end executor and the interconnected assembly that connects of actuator assembly, and the said assembly that connects comprises:
First drives transition components, and it is constructed to the rotation of first driving shaft of said actuator assembly is converted to the axial translation of said surgical end executor's first drive member; And
Second drives transition components; It is constructed to the rotation of second driving shaft of said actuator assembly is converted to the axial translation of said surgical end executor's second drive member; Said first drives transition components is arranged in the said second driving transition components at least in part; Wherein, said first driving transition components and the said second driving transition components are constructed to rotate independently of one another and translation.
2. the assembly that connects according to claim 1; Further comprise first drive rod and second drive rod; Said first drive rod and said second drive rod are constructed to connect with rotatable first driving shaft and second driving shaft of said actuator assembly respectively; Wherein, said first drive rod and said first drives that transition components engages and said second drive rod and the said second driving transition components engage.
3. the assembly that connects according to claim 2, wherein, said first drive rod and said second drive rod comprise pinion part separately.
4. the assembly that connects according to claim 3; Wherein, Said first drives transition components comprises the actuator shaft that limits worm gear portion, and wherein said first drive rod support pinion part, wherein; The worm gear portion of said actuator shaft engages with the pinion part of said first drive rod; Thus, thereby the rotation of said first driving shaft of said actuator assembly makes the pinion part of said first drive rod rotate the axial translation of realizing said actuator shaft, and the axial translation of said actuator shaft makes said surgical end executor's the first drive member axial translation.
5. the assembly that connects according to claim 3; Wherein, Said second drives transition components comprises the elongated tubular that limits worm gear portion, and wherein said second drive rod support pinion part, wherein; The worm gear portion of said elongated tubular engages with the pinion part of said second drive rod; Thus, thereby the rotation of second driving shaft of said actuator assembly makes the pinion part of said second drive rod rotate the axial translation of realizing said elongated tubular, and the axial translation of said elongated tubular makes said surgical end executor's the second drive member axial translation.
6. the assembly that connects according to claim 2, wherein, said first drive rod and said second drive rod are flexible and can transmit revolving force.
7. the assembly that connects according to claim 1, wherein, the said far-end that connects assembly be constructed to said surgical end executor optionally, removably the assembling.
8. operation device comprises:
Actuator assembly, it comprises at least two rotatable driving shafts;
Surgical end executor, but it comprises the drive member of at least two axial translations; And
Connect assembly; It comprises that first drives the transition components and the second driving transition components; The said first driving transition components is constructed to the rotation of first driving shaft of said actuator assembly is converted to the axial translation of said surgical end executor's first drive member; The said second driving transition components is constructed to the rotation of second driving shaft of said actuator assembly is converted to the axial translation of said surgical end executor's second drive member; Wherein, the said first driving transition components is arranged in the said second driving transition components at least in part.
9. operation device according to claim 8; Wherein, The said assembly that connects further comprises first drive rod and second drive rod; Said first drive rod and said second drive rod are constructed to connect with rotatable first driving shaft and second driving shaft of said actuator assembly respectively, and wherein, said first drive rod and said first drives that transition components engages and said second drive rod and the said second driving transition components engage.
10. operation device according to claim 9, wherein, said first drive rod and said second drive rod comprise pinion part separately.
11. operation device according to claim 10; Wherein, Said first drives transition components comprises the actuator shaft that limits worm gear portion, and wherein said first drive rod support pinion part, wherein; The worm gear portion of said actuator shaft engages with the pinion part of said first drive rod; Thus, thereby the rotation of said first driving shaft of said actuator assembly makes the pinion part of said first drive rod rotate the axial translation of realizing said actuator shaft, and the axial translation of said actuator shaft makes said surgical end executor's the first drive member axial translation.
12. operation device according to claim 10; Wherein, Said second drives transition components comprises the elongated tubular that limits worm gear portion, and wherein said second drive rod support pinion part, wherein; The worm gear portion of said elongated tubular engages with the pinion part of said second drive rod; Thus, thereby the rotation of said second driving shaft of said actuator assembly makes the said pinion part of said second drive rod rotate the axial translation of realizing said elongated tubular, and the axial translation of said elongated tubular makes said surgical end executor's the said second drive member axial translation.
13. operation device according to claim 9, wherein, said first drive rod and said second drive rod are flexible and can transmit revolving force.
14. operation device according to claim 8, wherein, the said far-end that connects assembly be constructed to said surgical end executor optionally, removably the assembling.
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US20180303485A1 (en) 2018-10-25
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US10758235B2 (en) 2020-09-01
US20120104071A1 (en) 2012-05-03
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US9282963B2 (en) 2016-03-15
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JP2017131730A (en) 2017-08-03
EP2446834B1 (en) 2018-08-29

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